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exterior_image_1_left
imagewidth (px)
320
320
exterior_image_2_left
imagewidth (px)
320
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wrist_image_left
imagewidth (px)
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float32
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[ 0.10719025135040283, -0.03239624202251434, 0.08605479449033737, -0.04612865298986435, 0.00037593324668705463, 0.0009619208285585046, 0.25282078981399536, 1 ]
5.8
87
0
87
0
[ -0.13889001309871674, 0.24055208265781403, 0.026568911969661713, -2.3990960121154785, -0.015717027708888054, 2.6890158653259277, 0.6706573963165283 ]
0.51112
[ 0.13684798777103424, -0.008888332173228264, 0.06876014918088913, -0.019049135968089104, -0.0009008266497403383, 0.001263833953998983, 0.2835255563259125, 1 ]
5.866667
88
0
88
0
[ -0.12499082833528519, 0.24014148116111755, 0.03226166591048241, -2.4002463817596436, -0.01571403630077839, 2.6890170574188232, 0.6987375020980835 ]
0.51112
[ 0.1456097513437271, -0.0033725278917700052, 0.06996308267116547, -0.010005103424191475, -0.00032835075398907065, -0.0002126661129295826, 0.3157849907875061, 1 ]
5.933333
89
0
89
0
[ -0.10944119840860367, 0.24001753330230713, 0.03791092336177826, -2.4011573791503906, -0.015712369233369827, 2.6890158653259277, 0.7279927134513855 ]
0.511062
[ 0.16811352968215942, 0.00016463935025967658, 0.051217421889305115, -0.009175622835755348, -0.00011938329407712445, -0.0007921566721051931, 0.2968941926956177, 1 ]
6
90
0
90
0
[ -0.09094136208295822, 0.23995119333267212, 0.0422649122774601, -2.4021658897399902, -0.015711771324276924, 2.689018726348877, 0.7595877051353455 ]
0.511062
[ 0.18066944181919098, 0.00028120141359977424, 0.029757943004369736, -0.011057852767407894, -0.00018304793047718704, 0.0019869436509907246, 0.29108163714408875, 1 ]
6.066667
91
0
91
0
[ -0.0744890347123146, 0.23992900550365448, 0.0449441596865654, -2.4035797119140625, -0.015714602544903755, 2.6890206336975098, 0.7846148610115051 ]
0.511062
[ 0.17189393937587738, 0.0009386708261445165, 0.026844142004847527, -0.023167334496974945, -0.0003615649475250393, 0.0007507430855184793, 0.24840937554836273, 1 ]
6.133333
92
0
92
0
[ -0.05632979795336723, 0.2399144023656845, 0.04748883843421936, -2.407283067703247, -0.0157137643545866, 2.689016580581665, 0.8111492395401001 ]
0.511062
[ 0.15633182227611542, -0.00009128103556577116, 0.021320359781384468, -0.04785499721765518, -0.0003304423298686743, 0.0007075219764374197, 0.21728608012199402, 1 ]
6.2
93
0
93
0
[ -0.043356943875551224, 0.23992310464382172, 0.04904996603727341, -2.4116480350494385, -0.015714269131422043, 2.6890158653259277, 0.8304150104522705 ]
0.511005
[ 0.13285835087299347, -0.0007154540508054197, 0.022151025012135506, -0.04845591261982918, -0.0011948064202442765, 0.001252947375178337, 0.20876041054725647, 1 ]
6.266667
94
0
94
0
[ -0.029941275715827942, 0.23992644250392914, 0.050568170845508575, -2.4162425994873047, -0.01571468636393547, 2.689016819000244, 0.8516515493392944 ]
0.511005
[ 0.12420476973056793, -0.00026812346186488867, 0.015079745091497898, -0.04649258777499199, -0.000010089270290336572, -0.00011353116860846058, 0.20684386789798737, 1 ]
6.333333
95
0
95
0
[ -0.01643332466483116, 0.2399333268404007, 0.05177603289484978, -2.422044277191162, -0.015716994181275368, 2.6890158653259277, 0.8741487264633179 ]
0.511005
[ 0.12555012106895447, -0.00037457922007888556, 0.013951735571026802, -0.05825991556048393, 0.001380008994601667, -0.00025579860084690154, 0.22426822781562805, 1 ]
6.4
96
0
96
0
[ -0.0033935559913516045, 0.23998236656188965, 0.05241259187459946, -2.4264910221099854, -0.0157147329300642, 2.6890158653259277, 0.8947072625160217 ]
0.510972
[ 0.13144971430301666, 0.0008871030295267701, 0.007848785258829594, -0.030744660645723343, 0.0010239328257739544, -0.001544436439871788, 0.2065948098897934, 1 ]
6.466667
97
0
97
0
[ 0.009667535312473774, 0.24003395438194275, 0.05315826088190079, -2.4287664890289307, -0.015715667977929115, 2.6890177726745605, 0.9135653972625732 ]
0.510972
[ 0.1282600462436676, 0.0010944613022729754, 0.008269327692687511, -0.018511762842535973, 0.0005978401168249547, -0.00021757013746537268, 0.18530362844467163, 1 ]
6.533333
98
0
98
0
[ 0.021813489496707916, 0.24058763682842255, 0.05339480936527252, -2.4304358959198, -0.015715209767222404, 2.6890182495117188, 0.9318414330482483 ]
0.510972
[ 0.10901447385549545, 0.013549964874982834, 0.0025247924495488405, -0.014169935137033463, -0.0016858342569321394, -0.0010354382684454322, 0.18352824449539185, 1 ]
6.6
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "panda",
    "total_episodes": 25,
    "total_frames": 4041,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:25"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "exterior_image_1_left": {
            "dtype": "image",
            "shape": [
                180,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "exterior_image_2_left": {
            "dtype": "image",
            "shape": [
                180,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "wrist_image_left": {
            "dtype": "image",
            "shape": [
                180,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "joint_position": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "joint_position"
            ]
        },
        "gripper_position": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper_position"
            ]
        },
        "actions": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "actions"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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